function commands = driveCode(x, t, robot, joy)
% uses joystick values to generate module commands
% module command is: velocity vector (speed [-1, 1] and direction)

% TODO real control code...
% TODO unwind mode

for i = 1:robot.modules
	commands.speed(i) = joy.y1;
	commands.angle(i) = 0;
end

return
